Publications

2019

[Top]

Castillo, G., Weng, B., Hereid, A. and Zhang, W.
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
Submitted to IEEE International Conference on Robotics and Automation (ICRA)2020

[arXiv] [Video]


Hereid, A., Harib, O., Hartley, R., Gong, Y. and Grizzle, J. W.
Rapid trajectory optimization using C-FROST with illustration on a cassie-series dynamic walking biped
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019

[arXiv] [Video]


Castillo, G., Weng, B., Hereid, A. and Zhang, W.
Reinforcement learning meets hybrid zero dynamics: a case study for RABBIT
IEEE International Conference on Robotics and Automation (ICRA)2019

[arXiv] [Video]


Chen, Y., Hereid, A., Peng, H. and Grizzle, J.
Enhancing the performance of a safe controller via supervised learning for truck lateral control
ASME Journal of Dynamic Systems, Measurement, Control2019

[DOI]


Gong, Y., Hartley, R., Da, X., Hereid, A., Harib, O., Huang, J.-K. and Grizzle, J.
Feedback control of a Cassie bipedal robot: walking, standing, and riding a segway
Annual American Control Conference (ACC), 2019

[arXiv] [Video]


2018

[Top]

Gurriet, T., Finet, S., Boeris, G., Duburcq, A., Hereid, A., Harib, O., Masselin, M., Grizzle, J. and Ames, A. D.
Towards restoring locomotion for paraplegics: realizing dynamically stable walking on exoskeletons
IEEE International Conference on Robotics and Automation (ICRA), 2018, pp. 2804-2811

[DOI] [Video]


Harib, O., Hereid, A., Agrawal, A., Gurriet, T., Finet, S., Boeris, G., Duburcq, A., Mungai, M. E., Masselin, M., Ames, A. D., Sreenath, K. and Grizzle, J.
Feedback control of an exoskeleton for paraplegics: toward robustly stable hands-free dynamic walking
IEEE Control System Maganize (CSM), 2018, Vol. 38(6), pp. 61-87

[DOI] [Video]


Hereid, A., Hubicki, C. M., Cousineau, E. A. and Ames, A. D.
Dynamic humanoid locomotion: a scalable formulation for HZD gait optimization
IEEE Transactions on Robotics (T-RO), 2018, Vol. 34(2), pp. 370-387

[DOI] [Video 1] [Video 2]


Kolathaya, S., Reher, J., Hereid, A. and Ames, A. D.
Input to state stabilizing control lyapunov functions for robust bipedal robotic locomotion
Annual American Control Conference (ACC), 2018, pp. 2224-2230

[DOI] [Video]


2017

[Top]

Hereid, A. and Ames, A. D.
FROST: fast robot optimization and simulation toolkit
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, pp. 719-726

[DOI] [Video]


Agrawal, A., Harib, O., Hereid, A., Finet, S., Masselin, M., Praly, L., Ames, A. D., Sreenath, K. and Grizzle, J. W.
First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons
IEEE Access, 2017, Vol. 5, pp. 9919-9934

[DOI] [Video]


Zhao, H., Hereid, A., Ma, W. and Ames, A. D.
Multi-contact bipedal robotic locomotion
Robotica, 2017, Vol. 35(5), pp. 1072-1106

[DOI]


2016

[Top]

Hereid, A., Cousineau, E. A., Hubicki, C. M. and Ames, A. D.
3D dynamic walking with underactuated humanoid robots: a direct collocation framework for optimizing hybrid zero dynamics
IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 1447-1454

*Finalist of Best Conference Paper Award

[DOI] [Video]


Hereid, A., Kolathaya, S. and Ames, A. D.
Online hybrid zero dynamics optimal gait generation using legendre pseudospectral optimization
IEEE Conference on Decision and Control (CDC), 2016, pp. 6173-6179

[DOI] [Video]


Hubicki, C., Hereid, A., Grey, M., Thomaz, A. and Ames, A.
Work those arms: toward dynamic and stable humanoid walking that optimizes full-body motion
IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 1552-1559

[DOI


Kolathaya, S., Hereid, A. and Ames, A. D.
Time dependent control lyapunov functions and hybrid zero dynamics for stable robotic locomotion
Annual American Control Conference (ACC), 2016, pp. 3916-3921

[DOI] [Video]


Ma, W.-l., Hereid, A., Hubicki, C. M. and Ames, A. D.
Efficient HZD gait generation for three-dimensional underactuated humanoid running
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, pp. 5819-5825

[DOI]


Nguyen, Q., Hereid, A., Sreenath, K., Grizzle, J. W. and Ames, A. D.
3D dynamic walking on stepping stones with control barrier functions
IEEE Conference on Decision and Control (CDC), 2016, pp. 827-834

[DOI] [Video]


Reher, J., Cousineau, E. A., Hereid, A., Hubicki, C. M. and Ames, A. D.
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS
IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 1794-1801

[DOI] [Video]


Reher, J. P., Hereid, A., Kolathaya, S., Hubicki, C. M. and Ames, A. D.
Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS
International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016

[URL] [Video]


Zhao, H., Hereid, A., Ambrose, E. and Ames, A. D.
3D multi-contact gait design for prostheses: hybrid system models, virtual constraints and two-step direct collocation
IEEE Conference on Decision and Control (CDC), 2016, pp. 3668-3674

[DOI] [Video]


2015

[Top]

Hereid, A., Hubicki, C., Cousineau, E. A., Hurst, J. W. and Ames, A. D.
Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking
IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 5734-5740

[DOI] [Video]


Dantam, N. T., Lofaro, D. M., Hereid, A., Oh, P. Y., Ames, A. D. and Stilman, M.
The Ach library: a new framework for real-time communication
IEEE Robotics Automation Magazine, 2015, Vol. 22(1), pp. 76-85

[DOI


2014

[Top]

Hereid, A., Kolathaya, S., Jones, M. S., Van Why, J., Hurst, J. W. and Ames, A. D.
Dynamic multi-domain bipedal walking with Atrias through SLIP based human-inspired control
ACM International Conference on Hybrid Systems: Computation and Control (HSCC), ACM, 2014, pp. 263-272

*DENSO Best Student Paper Award

[DOI] [Video]

 


Hereid, A., Powell, M. J. and Ames, A. D.
Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control
IEEE Conference on Decision and Control (CDC), 2014, pp. 2950-2957

[DOI] [Video]


Song, K., Li, C., Ye, L., Chen, B. and Hereid, A.
Signal integrity optimization of MLVDS based multi-master instrument bus
IEEE International Symposium on Electromagnetic Compatibility (EMC), 2014, pp. 433-437

[DOI


2013

[Top]

Dantam, N., Hereid, A., Ames, A. and Stilman, M.
Correct software synthesis for stable speed-controlled robotic walking
Robotics: Science and Systems, 2013

[URL] [Video]


Powell, M. J., Hereid, A. and Ames, A. D.
Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics
IEEE International Conference on Robotics and Automation (ICRA), 2013, pp. 4803-4810

[DOI] [Video]